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. WRLLHAM H.

ATTORNEY WANNAMAKER JR.

Nov. 15 2% H. WANNAMAKER, JR

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Patented Nov. 15, 1949 ANALYZING APPARATUS William H. Wannamaker, Jr., Flourtown, Pa., assignor, by mcsnc assignments, to Minneapolis- Honeywell Regulator Company, Minneapolis, Minn., a corporation of Delaware Application August 19, 1947, Serial No. 769,555,

which is a division of application Serial No. 1945, now Patent No. 2,453,053, dated November 2, 1948. Divided and this application August 11, 1948, Serial No.

585,125, March 27,

2 Claims.

The present invention relates to apparatus for analyzing and studying automatic regulation and control procedures, and more especially, pertains to apparatus for artificially creating or duplicating characteristics of various physical processes in order to facilitate investigation of the effect of said characteristics and/or the effect of inherent qualities of the automatic control apparatus on the automatic regulation or control obtained.

In fundamental investigations of automatic control procedures, a need often arises for process simulation or duplication. Automatic control procedures may be studied in the field on actual control applications but such investigations are ordinarily very difficult to carry on because the process under investigation is subject to changing conditions over which there is little or no control. Moreover, in actual control applications in the field the introduction of intentional load changes, disturbances or control point shifts,

which it is necessary to make in order to deter mine the dynamic action of the control system, is generally not permissible. As a consequence, various methods and apparatus have heretofore been proposed for the purpose of facilitating the investigation of automatic control procedures and apparatus.

The apparatus of the present invention offers advantages of versatility which render it especially suitable and desirable for accomplishing such investigations in the laboratory. Specifically, the dynamic action of the control system applied to control or regulate the simulated process may be readily and accurately observed, and

any factor, either in the simulated process or in l the automatic controller, may be easily simulated and altered.

This application is a division of my prior application, Serial No. 769,555, filed August 19, 1947, which application, in turn, is a division of my prior application, Serial No. 585,125, filed March 27, 1945, now issued as Patent Number 2,453,053 on November 2, 1948. An object of the invention is to provide an electrical analogue utilizing electrical resistance and capacitance circuits for artificially creating or duplicating characteristics of physical processes.

Another object of the invention is to provide such apparatus for ascertaining the operating characteristics and relative merits of different types of automatic controllers applied to similar processes.

A further object of the invention is to provide improved apparatus for studying the effect on the characteristic being investigated of changes 2 in dead time. Dead time may be defined as the elapsed time between occurrence of a change in a factor operative to ultimately cause a change in the measured characteristic and the time when such change in the measured characteristic actually takes place.

Another object of the invention is to provide an adjustable electrical circuit arrangement for varying the dead time of the artificially created process being investigated. It is a more specific object. of this invention to attain this result by an electrical circuit arrangement comprising an electronic pulse circuit, the pulsing period of which is readily adjustable.

It is also an object of the invention to provide an electronic pulse circuit, the pulse period of which is readily adjustable for controlling the actuation oi a movable member.

The various features of novelty which characterize my invention are pointed out with particularity in the claims annexed to and forming a part of this specification. For a better understanding of the invention, however, its advantages, and specific objects attained by its use,

reference should be had to the accompanying drawings and descriptive matter in which I have illustrated and described a preferred embodiment of the invention.

Of the drawings:

Fig. 1 is a schematic illustration of a preferred form of apparatus which may be utilized to carry out the method of the present invention;

Fig. 2 shows in more or less diagrammatic manner the details of the various units shown schematically in Fig. 1;

Fig. 3 is a graph showing the output current versus applied input voltage relation of the current input unit of Fig. 2;

Fig. 4 is a graph illustrating the effect of the dead time unit of Figs. 1 and 2;

Fig. 5 illustrates calibration curves obtainable with the vacuum tube voltmeter of Figs. 1 and 2;

Fig. 6 is a graph showing a reaction curve of a process simulated by means of the arrangement of Figs. 1 and 2; and

Fig. '7 is a graph showing a number of recovery curves for the process having the reaction curve of Fig. 6.

Prior workers in the art have proposed techniques of applying control to simulated processes. The techniques proposed, however, were limited in their application in that they did not lend themselves readily to adjustment for duplicating a variety of multiple capacity processes. Multiple capacity processes are those possessing two or more capacities each separated from each other by resistance to flow of energy between them. The electrical analogue of the present invention, on the other hand, possesses extreme flexibility for duplicating or simulating numerous processes merely by altering the values of resistances and condensers, which alterations may be easily accomplished in practice, as by means of plug and jack connections.

Inasmuch as a direct relationship has been found to exist between electrical units and thermal and hydraulic units, the physical constants of the resistances and condensers utilized may be calculated using well known theory. The relationship between electrical, thermal and hydraulic units is illustrated by means of the following table. In the table the units are based on point values in order to avoid the complexity of power functions. The time basis of the analogy may bear any chosen convenient ratio to that M of the actual process although an altered time relation may introduce complications when the control system involves integral and derivative functions.

lags of a process under investigation and comprising a resistance-capacitance network I5.

The values of resistance and capacitance in the network IS in the closed circuit control system of Fig. 1 determine the characteristics of the simulated process under control. The various values of the condensers and resistances are so chosen as to introduce a delay in the voltage transfer through the network from the input terminals H to the output terminals l6 corresponding to the delay (resulting from the capacity and transfer lags of the process) occurring between the time a change in the supply or a controlling agent to an actual process under control is made and the time when the process has attained a stabilized condition with the new supply of controlling agent.

The output terminals I6 01' the network I are connected to the input terminals I! of an electronic voltmeter I8 having output terminals I! which are connected to the input terminals of the potentiometer controller I.

As may be seen by reference to Fig. 2, which illustrates in more detail the various units of Most industrial controllers are provided with some form of pneumatic unit, electrical contact means or power set slider on a resistance slidewlre for accomplishing the desired control actions on the process to which the controller is applied. The method and apparatus of the present inven tion are readily adaptable for use with any one of such industrial controllers but for purposes of illustration I have shown in Fig. 1 the controller as comprising a sell balancing potentiometer equipped with pneumatic control means supplied with air from a suitable source through a pipe 2 for causing the air pressure to a diaphragm valve motor 3 to position a sliding contact 4 along a slidewire resistance 5. The potentiometer and the pneumatic control means including the diaphragm motor 3 may be of the type commercially manufactured and sold by The Brown Instrument Company and respectively disclosed in the Wills application, Serial Number 421,173, filed December 1, 1941, now issued as Patent Number 2,423,540 on July 8, 1947, and in the Moore Patent 2,125,081, granted July 26, 1938.

A battery 6 and an adjustable resistance I are connected across the slidewire resistance 5 for producing a voltage drop of known magnitude across the latter. A portion of this voltage drop is tapped off the slidewire 5 by the sliding contact 4 for deriving a voltage of variable magnitude which is impressed on the terminals 8 of a unit 9 which I have for convenience termed a dead time unit. The output terminals [0 of the dead time unit 9 are connected to the input terminals ll of a unit l2, conveniently termed a current input unit, and having output terminals l3 which are connected to the input terminals ll of a unit designed to simulate the capacity and transfer the arrangement of Fig. 1, the dead time unit 9 includes a number of condensers 20, which preferably are high grade condensers, and a ratchet type multiple contact switch indicated generally at 2|, and comprising two sections, one provided with a rotatable contact arm 22 and the other with a rotatable contact arm 23. While only twelve condensers and twelve contacts have been shown in connection with each section of the contact switch 2|, the number of condensers and the number of points on each section of the contact switch may be larger or smaller as desired, and a physical embodiment of the arrangement shown actually comprised twenty-five condensers and twenty-five points on each section of the contact switch. The ratchet type multiple contact switch 2| may be of any suitable type and, for example, may be of the well known telephone type.

An electronic pulse circuit indicated gcnerally at 24, and an associated relay 25, are provided for actuating the contact switch 2| to ad vance the contact blades 22 and 23, one step at a time, from one point to the next succeeding point.

One input terminal 8 of the dead time unit 5 is connected to a common terminal of each of the condensers 2|] and the other input terminal 8 is connected to the rotatable contact arm 22. The other terminal of each of the condensers 2D is connected to an individual one of the points on the contact switch section associated with the rotatable switch arm 22. Consequently, as the arm 22 is advanced, step by step, from one contact point to the next, an electrical charge is applied to each of the condensers 20 in succession from the slidewire resistor 5. The magnitude of the charge applied to the condensers is directly determined by the position oi the contact 4 along the length of the slldewire resistance 5.

As shown in Fig. 2, each of the second mentioned terminals of the condensers 20 is also connected to an indivual one of the contact points on the contact switch section which is associated with the rotatable contact arm 22. The switch arm 23 is connected to one output terminal ll of the dead time unit and thereby to one input terminal ll of the current input unit l2, and the other input terminal ll of the latter is connected to each of the first mentioned terminals of the condensers 20. The two switch contact arms 22 and 23 are out oi step by one position and the wiring is such that each previously charged condenser applies its potential to the input terminals ll oi the current input unit l2 for a period equal to the time between steps. Specifically, the switch arm 22 is shown as being ahead of the switch arm 22 by one step so that the dead time unit 9 effectively produces a dead time equal to eleven times the stepping or pulsing period in the arrangement shown. If desired, the switch arm 22 may be made to move in step with switch arm 23 and the wiring from the condensers 20 to the contact points of the switch 2| arranged so that the switch arm 22 will be electrically ahead of the arm 22 by one step. When a larger number of condensers is utilized, the stepping or pulsing period remaining the same, the dead time is correspondingly larger. For example, when twenty-five condensers are employed, the dead time is equal to twenty-four times the pulsing period. It is noted that the dead time may be increased or decreased in duration by either varying the number of condensers and contact points on the switch sections, while maintaining the pulsing period constant, or by varying the duration of the pulsing period. The latter method is preferred because variation in the dead time is easier of accomplishment by this method.

The adjustable electronic pulse circuit 24 is supplied with energizing current from a source of alternating current of commercial frequency, which is adapted to be connected to the terminals 26, and includes two electronic tubes designated by the numerals 21 and 28 which, as shown, are heater type triodes. Energizing current is supplied to the filaments of each of the triodes 21 and 28 from the secondary winding of a transformer 29 having its primary winding connected across the terminals 26. A potentiometer resistance 30, provided with a sliding contort is also connected across the terminals 3, cathodeoi the triode 2'! being connected to the sliding contact 33. The control grid of the triode 2? is connected through a suitable resistance to the lower terminal of resistance 30, as seen in the drawing. Accordingly, the voltage drop appearing between the contact 3| and the lower terminal of resistance 30 provides suitable bias voltage for the control grid of the triode 27. The magnitude of this bias voltage may be adjusted as desired by sliding the contact 85 along the length of resistance 30. The anode oi the triode 2! is connected by a condenser 32 to the upper terminal of the resistance 30. Thus, alternating voltage of commercial frequency is supplied to the anode circuit of the triode 27, whereby the triode 21 is periodically rendered conductive at the frequency of the supply source.

The output circuit of the triode 28 is connected to the terminals 2b in such manner that this triode is adapted to be rendered conductive during half cycles which alternate with those during which the triode 21 is adapted to be rendered conductive and includes the operating coil 22 of a relay 24 which is adapted to close a switch 25 when the relay is energized. The switch II is opened when the relay is deenergized, being biased by gravity or other suitable means to its open position. A condenser 28 is connected in shunt to the operating coil 22 for smoothing out the current now through the latter and thereby, for eliminating relay chatter. The input circuit of the triode 28 is controlled in accordance with the voltage produced across the condenser 22 which is included in the output circuit of the triode 21.

When the operation of the apparatus is initiated, the potential drop across the condenser 22 is zero, and consequently, the control grid of the triode 28 is then at the same potential as its associated cathode. The triode 28 is then fully conductive and energizes the. relay ll to close the switch 35. This action serves to close an energizing circuit to the operating coil 31 of the relay 25 from a battery 38. As a result, the relay 25 then advances the contact arms 22 and 23 oi. the switching mechanism 2| to the next position.

As the triode 21- is periodically rendered con ductive during alternate half cycles of the commercial alternating current supply source, a charge is gradually built up on the condenser 32 in the direction to render the control grid of the triode 28 negative in potential with respect to the potential of its associated cathode. This action continues until the conduction of the triode 28 is reduced to such an extent that the relay 34 is deenergized. Upon such occurrence, the switch 35 is actuated to its open position whereupon relay 25 is deenergized. Relay 25, as shown, is also provided with a switch 39 which, when closed, short circuits the terminals of the condenser 32 and consequently discharges the latter. Switch 39 is actuated by gravity or other suitable means to its closed position when relay 25 is deenergized and is moved into its open position when relay 25 is energized. Accordingly, when triode 28 is rendered non-conductive due to the charge stored on condenser 32, the cleanergizing action of relay 25 operates to permit switch 39 to close and thereby short circuit condenser 32, This discharges condenser 32, and hence, permits triode 28 to again conduct and energize relay 36. Such energization of relay 34 operates to cause energization of relay 25, which in turn advances the rotatable switch arms 22 and 23 to their next position.

As those skilled in the art will understand, the duration of the periods during which triode 28 is sufficiently conductive to energize relay 34 may be readily controlled by adjustment of the sliding contact it along the length of the resistance 30. For example, by increasing the negative bias applied to the control grid of the triode 21, the time required to charge condenser 32 sufilciently negative to render the triode 28 non-conductive is correspondingly increased, and vice versa.

In accordance with the present invention, the sliding contact M is adjusted to a position along the length of the resistance 3!; corresponding to the magnitude of the dead time it is desired to introduce into the simulated process. In this manner, a readily adjustable means is provided for varying the time interval between the application of a change in the voltage applied to the input terminals of the dead time unit-and the time when that voltage change appears Ice-- tween the output terminals of the dead time unit. This delay in the appearance of the voltage change between the input and output terminals of the dead time unitcorresponds to the delay occurring in actual complete control sys-- tems between the time of application of a change at some point in the system, which is operative to influence a factor of the process under control, and the time when such change has reacted through the complete system to cause a change in the opposite sense at the point where the original change was initiated.

The current input unit I2 is employed to provide a source of current in its output circuit which is regulated in value by adjustment of the voltage applied to its input terminals II and the range of values of which may also be varied as desired. A characteristic of the input current unit is that it may be utilized to simulate a mechanical valve, for example, regulating the flow 01' fuel to a furnace, the valve opening being adjusted in accordance with the voltage impressed on the input terminals H. Means to be described are also included in the input current unit for varying the size of the simulated valve.

Specifically, the input current unit I2 is provided with two heater type triodes respectively indicated by the reference numerals 40 and 4|, 9. battery 42 for supplying anode or output current to both triodes in series, a battery 43 for supplying suitable bias voltage to the input circuit of the triode 4 and an adjustable resistance 44 for supplying suitable bias voltage to the input circuit of the triode 40, It will be understood that suitable regulated voltage supplies energized from a commercial alternating current source may be employed, instead of batteries 42 and 43, if desired. A condenser 45, which preferably is of small value, is connected across the input terminals II for smoothing out the voltage pulsations applied to the input terminals of the input current unit l2 from the output terminals of the dead time unit 9 and to stabilize the potential of the control grid of triode 40 during the switching intervals.

The operation of the current input unit |2 in maintaining a substantially constant flow of current in its output circuit, notwithstanding changes in the voltages in the battery 42 and changes in the magnitude of the load impedance between the terminals l3 (offered by the network I), may be mathematically explained in the following manner.

Tracing through the complete circuit having connected therein the impedance network l5 and the anode-cathode circuits of the triodes 40 and 4|, Equation 1 may be obtained by applicationof Kirchoff's principle that the sum of the voltage drops in a closed circuit must be equal to zero.

Where R15 is the load resistance presented by the impedance network l5 between the output terminals l3 of the current input unit I2; Ip is the output current flow from the current input unit l2 through the impedance network l5; R44 is the resistance of the cathode bias resistor 44; mo and an are the amplification factors of the triodes 40 and 4|, respectively; R40 and R41 are the anode to cathode resistances of tubes 40 and 4|, respectively; E11 is the signal voltage impressed across the input terminals ll of the current input unit 8 I! from the slldewlre resistance 5; E4: is the voltage of battery 43; and k is a constant.

Differentiating Equation 1 with respect to R15, Equations 2, 3 and 4 are obtained:

Equation 4 is obtained by transposing and by substituting P for As those skilled in the art will understand, the quantity represents the ratio of the current change in the output circuit of the current input unit I2 for a given change in impedance between the output terminals l3. By inspection of Equation 4 it may be observed that the current Ip flowin in the output circuit of the current input unit I2 is substantially independent of the magnitude of the load impedance R15 over a range extending from zero up to one megohm and higher values of resistance.

Merely by way of illustration and not limitation, it is noted that. when triodes 40 and 4| are of the commercially available 7F? type, the other circuit components of the current input unit l2 may have the following values:

Part Value 5,000l50,000 ohms. 300 volts.

volts.

0.05 microfarad.

when these circuit components are employed and resistances R15 and R44, for example, are assigned values of 500,000 ohms and 100,000 ohms respectively, the value of the quantity sistances of each of the triodes 40 and 4| is assumed to be 20,000 ohms and the amplification "factor u of each of the triodes is assumed to be 70. Accordingly, the change in output current flow from the current input unit I: upon change in the magnitude of the load resistance R15 will be or, in other words, only 0.1% of the ratio Thus, if the change in load resistance R15 is 250,000 ohms, the change in output; current flow from the current input unit I2 with respect to its original value will have the value of triodes 40 and 4| may have any value from zero to at least one megohm and to higher values, if desired.

The output current flow derived from the input current unit i2 is impressed upon the input terminals I4 of the resistance-capacitance network 1 l5 constituting the simulated process. The value of the current flow to the resistance-capacitance network I5 is a function of and is determined by the voltage impressed on the input terminals ll of the input current unit l2 from the dead time unit 9. The output voltage variations which appear between the output terminals l6 of the resistance-capacitance network [5, simulate the variable being measured of an actual process, such, for example, as the temperature within a furnace. In order to measure the voltage variations between the terminals [5, the vacuum tube voltmeter I8 is employed in conjunction with the potentiometer controller I. The vacuum tube voltmeter 18 servesas an impedance matching device to permit the proper functioning of the potentiometer controller I which controllers ordinarily are designed to work from low voltage, low impedance circuits.

The resistance-capacitance network l5 includes a number of resistances 46 and also a number of parallel connected resistances 41 and condensers 48. The condensers 48 may be of any suitable type and, for example, may be paper type condensers or may be dry electrolytic condensers. In the aforementioned practical working embodiment of the invention, the-condensers 48 are wired to colored jacks on a Bakelite panel and about 30,000 microfarads of capacity areused together with about thirty adjustable resistors 46 and 41. These are adapted to be connected by means of jumpers into jacks to form various types of mesh circuits. A built-in bridge circuit and null indicator (both not shown) are also included for circuit measuring purposes. It is noted that when the condensers 48 are of the electrolytic type, a circuit calling for higher shunt resistances than are inherent in the condensers in the form of leakage, may not be utilized. In addition, variation of capacity and leakage, both with ambient temperature and impressed voltage, must be taken into account. While electrolytic condensers impose such limitations upon the use Of the apparatus, a real advantage is gained in their use, however, in that many industrial process applications 10 may be simulated satisfactorily with considerable saving in cost and space.

The vacuum tube voltmeter l8 comprises a sharp cut-oil? heater type tube, preferably a pentode but shown for convenience as a triode 49, which is operated at a low plate voltage. A large series grid resistor 50 connected between the control grid of triode 49 and one output terminal ii of the resistance-capacitance network i5, is utilized to reduce grid current to a low value. Anode current is supplied to the triode 49 from a battery 5| through an adjustable resistance 52 and fixed resistances 54 and 55. The potential drop across an adjustable portion of the load resistance 52 provides the voltage to operate the potentiometer controller I. In order to make the potentiometer controller read upscale for an increasingly negative voltage applied to the control grid of the triode 49, an adjustable resistance 53 is provided in shunt to the battery 5! to derive a voltage which may be opposed to the voltage drop across resistance 52. That is to say, the voltan drops across the resistors 52 and-53 are equal, whereby their resultant is zero, when zero voltage is impressed on the control grid of the triode 49 from resistance-capacitance network l5.

Preferably, the anode voltage supply derived from the battery 5! and the source of voltage forenergizing the heater filament of triode 49 are regulated. Such regulating means are desirable especially when these voltages are derived from an alternating current source. Desirably, two vacuum tube voltmeters may'be provided so that one may be employed to actuate the potentiometer controller, as shown, and the other may be employed to actuate a recorder to show the demand, the actual fuel flowing, or may be utilized to indicate the voltage within any portion of the process mesh circuit i5.

In the aforementioned practical working embodiment of the present invention, an impedance measuring bridge is built into the panel board with 'jacks for inserting leads from the various circuit components and an ordinary electronic amplifier and electron-ray tube of the indicating type are utilized as a null indicator.

In the operation of the arrangement shown in Fig. 2, the diaphragm motor positions the sliding contact 4 along the length of the slidewire resistance 5 in accordance with the variations in the applied air pressure and thereby, according to the variations in magnitude of the voltage impressed on the input terminals of the potentiometer controller I. Since the number of valve positions is limited to the number of convolutions provided on the slidewire resistance 5, this number is made suitably high and, for example, may be 200 although more convolutions or fewer convolutions may be employed. A greater number of convolutions than 200 may require the use of a valve positioner. The sensitivity obtained'with 200 convolutions has proved satisfactory when used in conjunction with the dead time unit 9 with its step function, as described.

It is noted that in low capacity processes where low rates of switching would be objection-=- able, dead time to any large degree is generally not met in actual practice and the consequent fast pulsing of the dead time unit 9 provides a satisfactory dead time evenfor such low capacity processes. The twenty-five position selector 2! was chosen in the aforementioned representative embodiment of the invention as the most feasible device to approximate delays of from zero to several minutes duration. As previously explained,

11 its rotation is made in a series of steps, the time between each step being determined by the electronic pulse circuit 24. The condensers 20 used with the switch 2| may stand idle for the necessary periods without appreciable loss of charge, while the current drain during the period each is connected to the current input unit 12 is small.

The reason for utilizing a current input unit l2 of the type disclosed and described will now be explained. As those skilled in the art understand, most processes are non-regenerative. For example, a burning fuel releases a certain number of heat units regardless of the temperature within the fire box. If the suppl of fuel is reduced, heat does not flow back into the fuel supply as fuel. It is for the purpose of simulating such a burner that the current input unit i2, consisting of a high gain amplifier having considerable negative feedback, is utilized. With this current input unit 12, a current will flow in the output circuit at a predetermined value practically independent of the impedance into which it is working when a fixed potential is applied to its input terminals H. When the load into which the current input unit i2 is working is composed of condensers and resistances, as in the mesh analogue circuit Hi, this flow of current simulates flow of heat, while the voltage in any portion of the resistance-capacitance mesh represents temperature. If the demand should go to zero, the current input to the terminals M of the resistance-capacitance network 15 from the current input unit l2 will be made zero, the current will not flow back into the source, the current input unit I2, to alter the voltage in an portion of the resistance-capacitance mesh, and accordingly, will not alter the simulated rate of heat dissipation. If decrease in demand should ocour, the input current will be reduced to some lower value in accordance with the demand. In the arrangement shown, the complete current supply system has been designed to approximate a semi-logarithmic valve characteristic in its action. The characteristic of the valve may be predetermined as desired by suitable design of the slidewire resistance 5, as for example, by winding the resistance on a form of a shape corresponding to the valve characteristic desired.

Figs. 3, 4 and 5 illustrate in more or less diagrammatic manner, typical performance characteristics of the apparatus disclosed in Figs. 1 and 2. Fig. 3, previously referred to, illustrates the current flow into the resistance-capacitance network l5 or process analogue for difierent values of impressed voltage on the input terminals of the current input unit l2. It is noted that the current value is practically independent of the dynamic impedance of the process mesh circuit l5 and that the equivalent valve size may be chosen as desired by changing the self-biasing resistor 44.

Fig. 4 illustrates the manner in which the dead time unit 9 delays the voltage from the valve slidewire, while Fig. 5 illustrates several different calibration curves obtainable with the voltmeter I8 by means of which the equivalent of suppressed range studies, for example, may be made.

Although it is possible, by means of the method and apparatus shown in the drawings and herein described, to approximate a particular process through regulation of its resistance and capacity, it is only necessary in practice to arrange certain combinations of capacity, transfer lag and dead time to represent whatever particular characteristics are desired. In this manner, the effect of various characteristics in automatic control may be investigated by means of the apparatus described without actually attempting to set up specific processes. A principal application for the arrangement disclosed, therefore, is to simulate process characteristics rather than to duplicate a specific physical process, although the latter may also be done if so desired. Ex amples of types of problems which may be solved in accordance with the present invention are given hereinafter.

One typical use to which the invention may be put is the determination of the reaction curve of a process. A reaction curve, an example of which is shown in Fig. 6, shows the dynamic action of the process to a sudden change of control agent input and is obtained by fixing the position of the control valve and allowing the measured variable to line out at a value slightly below the control point. During this period the process is under manual control rather than automatic control.

In obtaining a reaction curve of a process, for example, that shown in Fig. 6, a small sudden movement of the valve to a new fixed position is made. If the process under investigation has self regulation, the measured variable will gradually rise to a new balanced value. If the magnitude of the change has been properly selected, the final value should be slightly above the con trol point. The resulting change with time of the measured variable is the process reaction curve. It is noted that this reaction curve includes the effect of measuring and controller lags as well as the process characteristics.

Another use to which the invention may be put is the study of the relative merits of suppressed range controllers. Controllers with a suppressed range scale have come increasingly into use for the purposes of more accurate readability and control of the magnitude of the controlled variable. For example, if it is desired to control a temperature of 250 F. it is becoming common practice to use a controller calibrated to 300 F. instead of 0 to 300 F. This suppressed range has an effect on the controller adjustments because of the different rate of controller pen motion for the same rate of temperature change.

In conducting an investigation of the effect 01' suppressed range controller scales upon optimum controller adjustments, the first step is to select a suitable process which approximates an actual process of the type upon which controllers provided with controller adjustments are employed. Such a controller might, for example, be a pro portional reset controller. This type of process generally involves slight transfer lag with moderate process capacity. For the purposes of this investigation, dead time is not required and is, accordingly, omitted. To this end, a switch 54 is provided for directly connecting the sliding contact 4 to the control grid of the triode 40 and for shunting out the dead time unit 9.

A representative process, which may be employed for investigating the effect of a suppressed range controller scale upon controller adjustment, is illustrated in the graph shown in Fig. 6 which represents the reaction curve of a multiple capacity process simulated by means of three resistance-capacitance networks, as shown in Fig. 6. The values of resistance 41 and condenser 48 in each network except the first, namely that connected to the input terminals H, are respectively 300,000 ohms and 300 microfarads. The values of the resistance 41 and condenser 40 connected across the input terminals II are respec-- tively 120,000 ohms and 150 microfarads. In each case the resistance 41 includes the leakage resistance of its associated condenser. Each resistance-capacitance network is connected by a resistance 46 of a value of 40,000 ohms to cause an equivalent temperature drop between the condensers. In order to obtain a fixed rate of decrease in the variable being measured the condensers are shunted by high value resistances which approximate a loss of heat to atmosphere from each condenser. The resistance across the last condenser is for convenience called the demand. Its value determines the heat flow required from the demand capacity.

The next step in the investigation is to determine the valve size which is accomplished by setting the range adjuster on the current input unit, namely the resistance 44, so that the full open position of the control valve provides the same rate of rise in the variable being measured as rate of fall when the valve is completely closed. In the instant investigation, the proper valve range was determined to be to 100 microamperes, corresponding to the lowest and highest controller output pressures. The next step is to check the valve size to insure that between 50 to 75% setting of the control valve maintains the variable being measured at the control point. Any adjustments which may be required may be made by varying the magnitude of resistance.

A potentiometer pneumatic controller, as shown at i in Figs. 1 and 2, may be connected to the process previously described and adjustments of proportional band (throttling range) and reset rate selected for control of the process. The adjustments are based on minimum area recovery for "a supply change. Proportional band is defined as the range of values of the controlled variable which corresponds to the full operating range of the final control element or valve. Reset rate is the number of times per minute that the eifect of the proportional action upon the final control element or valve is duplicated b the proportional speed floating action, which, in turn, is defined as a controller action in which there is a continuous linear relation between values of the controlled variable and rate of motion of the final control element.

The supply change may be manually introduced by means of a switch 56, battery 51, slidewire resistance 58 and contact 59 provided in association with the slidewire resistance 5 so that a sudden additional bias voltage is inserted in the sliding contact lead on the control valve slidewire. For example, the supply change may be of such magnitude that when the voltage is introduced, a 25% increase in iiow is caused with the actual valve position remaining unchanged. This corresponds to a change in upstream pressure at the control valve, causes a greater now of control agent, and requires that the controller correct for this change.

The potentiometer controller i may then be calibrated to various spans and the suppression adjusted so that the control point represents a predetermined value, for example, three volts.

The controller adjustments are then redeter mined. The following table shows the results obtained for the example being considered, while in Fig. 7 are shown the recovery curves under each condition.

fg g ga ggggfg gi Reset Rnte-r, Mnx. Deviaspanwom' cent a Per Minute tron, Volts From a theoretical standpoint, it would be expected that the proportional band would follow a reciprocal law such that as the controller span is reduced by one-half, the proportional band would be doubled. The results of these tests are in approximate agreement as may be seen from the above table. lT'he proportional band is smaller than expected, however, at the smaller scale spans having the greatest amount of suppression. I

This discrepancy is capable of explanation as follows. If non-linearities exist in the control system, it is possible that the greater deviation in percent of scale, representing the same deviation in voltage for various spans, may require a smaller proportional band in order to achieve the same stability in the recovery curve. Since the controller is calibrated for linear response of voltage input to air pressure output, it is unlikely that this is the cause of the discrepancy.

A second cause may be the difference in apparent dead zone of the control system with respect to changes in voltage of the process when various controller spans are utilized. For example, a dead zone of 0.04% of controller scale with a six volt span would represent 0.0024 volt, while at a two volt span the dead zone would represent 0.0008 volt. Since the process possesses slight transfer lag, the decrease in apparent dead zone with smaller spans would allow a slightly smaller proportional band, thus at least partially accounting for the discrepancy.

The third cause may be that controlled adjustrnents were not set to the optimum values to produce a recovery curve having the smallest possible period. This may further account for the discrepancy. In fact, the recovery curves of Fig. '3' indicate that the period increases slightly as the span is decreased. Controller adjustments were made in each case without changing the reset rate from the previous setting. It was found necessary in every test to decrease the reset rate in. order to achieve the dsired stability. Although the reset rate should be unchanged with various spans, the required decrease in reset rate may be in part due to the method of selecting controller adjustments.

It is worthwhile to note that in using any type of analogue for investigations in automatic control, it is necessary to avoid imposing any limitations on the operation of the analogue under dynamic conditions. If the control valve is required to move to its limit of travel, if the process reaches a potential beyond which it can not go, or if the controller pen should attain full scale, the complete system is unable to follow adequately its own laws of operation. Such action in the system correspondingly influences the dynamic operation unless limits are required as in two position control. a

From the foregoing it is evident that the electrical analogy method and apparatus herein described for simulating processes lends itself readily to the selection of varying degrees of process characteristics. It has been shown how such factors as process capacity, transfer lag, dead assauou time, valve size, controller scale range, and load changes are set up on the analogue.

Various investigations of automatic control, particularly when actual control equipment is employed, emphasize the necessity of taking into account such factors as measuring lag, controller lag and dead zones in the measuring and controlling means, as well as in the process. The results of the investigation of controller span described, emphasize the fact that these factors can be neglected only in exceptional cases. Empirical methods of analysis of automatic control must generally be tempered by the influence of iactors difficult to account for in mathematical methods. These factors which are diiiicult to account for in mathematical methods may be readily taken into account by means of the method and apparatus of the present invention.

Subject matter disclosed in this application and not claimed herein is disclosed and is being claimed in my copending application Serial Number 43,742, flied on even date herewith and in the copending application of Donald P. Ecleman and William H. Wannamaker, Jr., filed on March 27, 1945, and bearing Serial Number 585,- 124, now Patent No. 2,470,434 of May 17, 1949.

While in accordance with the provision of the statutes, I have illustrated and described a pre ierred embodiment of the present invention, those skilled in the art will understand that changes may be made in the form, of the apparatus disclosed without departing from the spirit of my invention as set forth in the appended claims, and that some features of the present invention may sometimes be used to advantage, without a corresponding use of other features.

Having now described my invention, what I claim as new and desire to secure by Letters Patent is as follows:

1. Means to periodically actuate a movable member from one position to another comprising a plurality of electronic valves, each of said valves having an input circuit and an output circuit, a source of power for supplying alternating current to said electronic valves, means for so con- 16 necting said electronic valves to said source that one of said valves is operative on only one half cycle of said alternating current while another of said valves is operative on only the alternate half cycles, a condenser connected in the output circuit of said one valve, the input circuit of said other valve being connected across said condenser, a relay having an operating winding connected in the output circuit of said other valve, a movable member actuable from one position to another, a second relay controlled by said first mentioned relay to actuate said movable member between said positions, and switch means actuated in unison with said movable member to shunt the condenser in the output circuit of said one valve when said movable member is in one of said positions.

2. Means to periodically actuate a movable member from one position to another comprising a plurality of electronic valves, each of said valves having an input circuit and an output circuit, a source of power for supplying alternating current to said electronic valves, means for so connecting said electronic valves to said source that one of said valves is operative on only one half cycle of said alternating current while another of said valves is operative on only the alternate half cycles, adjustable bias means connected in the input circuit of said one valve, a condenser connected in the output circuit of said one valve, the input circuit of said other valve being connected across said condenser, a relay having an operating winding connected in the output circuit of said other valve, a movable member actuable from one position to another, a second relay controlled by said first mentioned relay to actuate said movable member between said positions, and switch means operated in unison with said movai ble member to shunt the condenser in in the output circuit of said one valve when said movable member is in one of said positions.

WILLIAM H. WANNAMAKER, JR.

No references cited. 

